Simulation system, simulation method, and program

Abstract

The invention provides a simulation system capable of performing simulation while intuitively ascertaining surrounding dangers. A simulation system according to the present invention is provided with: a hazard detection unit that detects a hazard around a moving body by referring to a hazard information database in which the structure or attribute of a constituent part constituting a simulation environment is associated with a hazard that the moving body may suffer when the moving body in the simulation environment interferes with the constituent part; and a hazard information output unit that outputs hazard information indicating a hazard for each of the constituent sites when a predetermined output condition is satisfied. AI (artificial intelligence) technology can be used in the processing of each function part.

Description

Technical Field

[0001] This invention relates to a simulation system, simulation method, and program. Background Technology

[0002] A technique is known to use a simulated environment built in virtual space to simulate tasks performed by humans or robots. As a related technology, Patent Document 1 discloses a field operation simulation system that enables workers to accurately grasp the content or steps of a task.

[0003] Patent Document 1: Japanese Patent Application Publication No. 2021-039421 Summary of the Invention Because computers have limited computing resources, it is difficult to reproduce simulated environments with the same level of detail as real-world environments. Therefore, even locations that would be considered dangerous in real-world environments may not be intuitively understood or may be difficult to comprehend in a computer simulation.

[0004] This invention provides a simulation system, simulation method, and program that can simulate dangers in the surrounding environment while intuitively understanding them.

[0005] The simulation system of the present invention comprises: a hazard detection unit that detects hazards around the mobile body by referring to a hazard information database obtained by establishing a corresponding association between the structure or properties of the constituent parts constituting the simulation environment and the hazards that the mobile body may suffer when it interferes with the constituent parts in the simulation environment; and a hazard information output unit that outputs hazard information representing the hazard for each constituent part when a predetermined output condition is met.

[0006] Based on the above structure, it is possible to intuitively grasp the surrounding dangers while conducting simulations.

[0007] The simulation method involved in this invention includes: a hazard detection step, which detects hazards around the mobile body by referring to a hazard information database obtained by establishing a corresponding association between the structure or properties of the constituent parts constituting the simulated environment and the hazards that the mobile body may suffer when it interferes with the constituent parts in the simulated environment; and a hazard information output step, which outputs hazard information representing the hazard for each constituent part when the specified output conditions are met.

[0008] The program involved in this invention enables a computer to perform the following steps: a hazard detection step, which detects hazards around the mobile body by referring to a hazard information database obtained by establishing a corresponding association between the structure or properties of the constituent parts constituting the simulated environment and the hazards that the mobile body may suffer when it interferes with the constituent parts in the simulated environment; and a hazard information output step, which outputs hazard information representing the hazard for each constituent part when the specified output conditions are met.

[0009] Invention Effects The simulation system, simulation method, and program involved in this invention can simulate dangers in the surrounding environment while intuitively understanding them. Attached Figure Description

[0010] Figure 1 It is a block diagram representing the structure of the simulation system.

[0011] Figure 2 This is a diagram representing an example of hazard information stored in a hazard information database.

[0012] Figure 3 This is a diagram showing a specific example of the area to be detected and hazard information.

[0013] Figure 4 This is a diagram illustrating an example of the directional characteristics of the detected object region.

[0014] Figure 5 This diagram illustrates an example of defining the range of the detection target area based on the structure of the constituent parts.

[0015] Figure 6 This diagram illustrates an example of setting the detection target area in a direction other than the vertical direction.

[0016] Figure 7 This is a diagram illustrating an example where the detection target area is set to extend horizontally.

[0017] Figure 8 This diagram illustrates an example of using the properties of constituent parts to detect hazards.

[0018] Figure 9 It is a flowchart representing the processing flow performed by the simulation system. Detailed Implementation

[0019] Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the drawings, the same or corresponding elements are labeled with the same symbols. For clarity, repeated descriptions are omitted as needed.

[0020] (Simulation System 10) refer to Figure 1The structure of the simulation system 10 involved in this invention will be described. Figure 1 This is a block diagram showing the structure of the simulation system 10. The simulation system 10 includes a hazard detection unit 1, a hazard information output unit 2, an evaluation unit 3, and a storage unit 4.

[0021] The simulation system 10 includes a processor and a memory (not shown). A computer program containing the processing described herein is stored in a storage unit 4, which serves as a storage device. The processor can read the computer program from the storage device into the memory and execute it. Thus, the processor performs the functions of the hazard detection unit 1, the hazard information output unit 2, and the evaluation unit 3.

[0022] Alternatively, the hazard detection unit 1, hazard information output unit 2, and evaluation unit 3 can each be implemented using dedicated hardware. Furthermore, some or all of each component can be implemented using general-purpose or dedicated circuits, processors, or combinations thereof. They can be composed of a single chip or multiple chips connected via a bus. Some or all of each component can be implemented using a combination of the aforementioned circuits and programs. Moreover, as the processor, a central processing unit (CPU), graphics processing unit (GPU), field-programmable gate array (FPGA), quantum processor (quantum computer control chip), etc., can be used.

[0023] Furthermore, when some or all of the components of the simulation system 10 are implemented by multiple information processing devices or circuits, these devices or circuits can be centrally or distributed. For example, the information processing devices or circuits can be implemented as client-server systems, cloud computing systems, etc., connected separately via communication networks.

[0024] The simulation system 10 is a system that controls the playback of content representing a virtual space. The simulation system 10 provides a user with a computer-constructed three-dimensional virtual space. The user is a character utilizing the simulation system 10. The user can use the virtual space as a simulation environment (hereinafter, sometimes simply referred to as the "environment"). Furthermore, artificial intelligence (AI) techniques can be used when constructing this environment.

[0025] The user interacts with a mobile entity within the environment, which acts as an avatar of themselves. This mobile entity performs actions such as moving within the environment, performing tasks within the environment, or interacting with other mobile entities within the environment. For example, a mobile entity can be configured within the environment as an avatar.

[0026] For example, a user manipulates a moving object using a mouse or keyboard (not shown). A user can also manipulate a moving object using virtual reality (VR) glasses. The user uses the moving object to simulate an environment. The simulated object could be, for example, work on a construction site, but is not limited to this. Various behaviors within the environment can be simulated objects.

[0027] A mobile body possesses a mobility mechanism for moving within an environment. This mobility mechanism may include, for example, a drive mechanism for movement on a ground surface, in the air, on water, or in water. The mobile body can be a person or any object equipped with a mobility mechanism. Examples of mobile bodies include humans, mobile robots, autonomous vehicles, or drones. A mobile body can also simulate the movement of living beings such as humans. For example, a mobile body can be a robot character.

[0028] The hazard detection unit 1 detects hazards around the moving object. Furthermore, the hazard detection unit 1 acquires hazard information related to these hazards. Hazard information is information related to the potential hazards the moving object may suffer. Hazard information may include the category of hazard and the degree of hazard. The category of hazard is information indicating the type of hazard. For example, the category of hazard may be a category indicating the content of the moving object's action, such as "falling," "dropping," "slipping," or "misstepping." Furthermore, the category of hazard may be a category indicating the content of the injury, such as "burns." The degree of hazard is information indicating the level of danger the moving object may suffer. The greater the potential danger to the moving object, the higher the hazard level is set.

[0029] For example, firstly, the hazard detection unit 1 sets a detection target area as the area to be detected as a hazard. Details regarding the detection target area will be described later. The hazard detection unit 1 references a hazard information database (hereinafter referred to as "hazard information DB (DataBase)") 41. The hazard information DB 41 establishes a corresponding association between the structure or properties of the constituent parts constituting the environment and the hazards that the moving body may suffer if it interferes with the constituent parts within the environment. In this embodiment, the hazard information DB 41 is stored in the storage unit 4. The hazard information DB 41 may also be stored in a device other than the simulation system 10.

[0030] In virtual space, constituent parts represent the elements that constitute the environment. Constituent parts can be, for example, ground surfaces, walls, ceilings, steps, trenches, holes, obstacles, inclined surfaces, protrusions, materials, or heavy machinery, but are not limited to these. Constituent parts, when interfering with moving objects, have the potential to cause damage to the moving objects.

[0031] The structure of a component refers to information describing its appearance or characteristics. The structure of a component may include, for example, its shape or stability. Specifically, the structure of a component may include, for example, its depth, height, or degree of sway.

[0032] The properties of a constituent part are attributes that describe the characteristics of that part. Examples of properties of a constituent part include its heat resistance, slipperiness, or fragility. These properties can be expressed using physical property values. For example, properties of a constituent part may include its temperature or material composition.

[0033] "Interference between a moving body and a constituent part" means that the moving body comes into contact with a constituent part. Examples of interference between a moving body and a constituent part include the moving body colliding with a constituent part (e.g., an obstacle), the moving body being tripped by a constituent part (e.g., a protrusion), the moving body stepping into a constituent part (e.g., a step), and the moving body falling or dropping from a constituent part (e.g., a hole).

[0034] Figure 2 This diagram illustrates an example of the hazard information stored in hazard information DB41. In this example, hazard information DB41 includes the structure or attribute of the constituting part and the category of hazard. Furthermore, hazard information DB41 includes a constituting part ID that identifies the structure or attribute of the constituting part and a hazard category ID that identifies the category of hazard.

[0035] Hazard detection unit 1 refers to hazard information DB41 to obtain hazard information corresponding to the constituent parts. For example, hazard detection unit 1 searches for the structure or attributes of the constituent parts of the object in hazard information DB41 to obtain hazard information. Hazard detection unit 1 obtains information that establishes a corresponding association with the structure or attributes of the constituent parts of the object as hazard information. Hazard detection unit 1 can obtain at least one of the hazard category and hazard level as hazard information. For example, suppose a moving object interferes with a "hole with a depth of 1m or more". Hazard detection unit 1 refers to hazard information DB41 and obtains "fall or drop" that establishes a corresponding association with the "hole with a depth of 1m or more" as hazard information.

[0036] The hazard information DB41 can further establish corresponding associations for hazard levels and store them as hazard information. Therefore, the hazard detection unit 1 can further obtain hazard levels as hazard information based on the hazard category. By quantifying the hazard levels, the hazard detection unit 1 can appropriately evaluate the hazard of each hazard category. The hazard detection unit 1 can calculate the hazard level from the hazard information DB41 using a prescribed formula.

[0037] The level of danger can be set using a numerical value from 1 to 5 to represent the degree of danger. Furthermore, the level of danger can be set using character information such as "high danger", "cannot be determined" and "low danger".

[0038] The hazard detection unit 1 can set a detection target area, which is the object of hazard detection, around the moving body. The hazard detection unit 1 acquires hazard information related to the constituent parts that interfere with the detection target area set around the moving body. For example, the detection target area is a region located within a defined range from the moving body. The detection target area can be a spatial region or a planar region. Furthermore, the hazard detection unit 1 can set multiple detection target areas. When the detection target area interferes with a constituent part, the hazard detection unit 1 acquires hazard information related to that constituent part.

[0039] By defining the detection target area, the hazard detection unit 1 can limit the acquisition of hazard information to a range where interference from moving objects is highly probable. Thus, the simulation system 10 avoids the problem of excessive information while enabling intuitive simulation operation for the user.

[0040] The shape of the detection target area can be, for example, approximately cylindrical, approximately elliptical cylindrical, or prism-shaped. However, the shape of the detection target area is not limited to these; it can be any shape. The detection target area can extend horizontally or vertically. The detection target area can form a specified angle relative to a horizontal or vertical plane within the environment.

[0041] For example, the target area to be detected can be a ray-shaped area set around the moving object. The hazard detection unit 1 can appropriately detect hazards in the target area by setting the illumination angle, width, or position of the ray-shaped target area to arbitrary values. To reduce the possibility of missed detections, the number of target areas illuminated can be appropriately adjusted. Furthermore, the range of the target area can be appropriately set based on the range of human attention. For example, the range of the target area can be set based on human reaction time or stride length.

[0042] For example, the hazard detection unit 1 can define a light-shaped detection target area emitted from a moving body, or it can define a light-shaped detection target area emitted from a predetermined position in the environment. For example, a light beam of a predetermined thickness is shone from the center of gravity of the moving body toward the component, and the light emitted from the moving body shines on the component. In this case, the hazard detection unit 1 defines the area constituting the light beam as the detection target area. In this case, the detection target area is the spatial area connecting the moving body and the component. Alternatively, the hazard detection unit 1 can also define the surface area of ​​the component illuminated by the light beam as the detection target area.

[0043] Hazard detection unit 1 can be configured to illuminate a detection target area from a predetermined location within the environment in the form of a beam of light. Thus, the virtual space can be configured such that an avatar within the environment holds an object such as a beam gun and illuminates the detection target area from that object. In this way, the user can operate the avatar to illuminate the detection target area towards the component from which hazard information is desired.

[0044] Therefore, for example, when the moving body is moving in a straight line, the hazard detection unit 1 can acquire hazard information related to the constituent parts present in the direction of travel. Furthermore, the detection target area is not limited to the direction of travel of the moving body and can be set in any direction. For example, the detection target area can be set in the front-back, left-right, and up-down directions of the moving body.

[0045] Furthermore, multiple detection target areas can be set around the moving body, centered on it. For example, the hazard detection unit 1 sets multiple cylindrical detection target areas at a predetermined distance from the moving body. Thus, the hazard detection unit 1 can acquire hazard information related to the surrounding components based on the movement of the moving body, regardless of its direction of travel.

[0046] Figure 3 This is a diagram showing a specific example of the area to be detected and hazard information. Figure 3 The table shown in (A) displays the upper and lower limits of the height of the component where a hazard is detected, along with the degree of hazard, for each hazard category. By setting multiple thresholds, specific hazards are assigned to each range defined by the thresholds, thereby enabling the setting of a degree of hazard corresponding to the structure or properties of the component. The thresholds can be preset by the administrator of the simulation system 10, etc.

[0047] Figure 3 (B) The X-axis represents the forward-backward direction of the worker (WO). The Y-axis represents the left-right direction of the worker (WO). The Z-axis represents the height direction of the worker (WO). Figure 3 In this example, the positive X-axis direction represents the movement direction of the worker WO. Therefore, the positive X-axis direction is in front of the worker WO, the negative X-axis direction is behind the worker WO, the positive Y-axis direction is to the right of the worker WO, and the negative Y-axis direction is to the left of the worker WO. Furthermore, the positive Z-axis direction is vertically upward, and the negative Z-axis direction is vertically downward. The directions of each axis are the same in the following figures.

[0048] Figure 3 (B) is a diagram showing the environment viewed from the side. The worker WO is an example of a moving object. Furthermore, multiple detection target areas are set up around the worker WO at a specified distance from the worker WO. Figure 3The image shows only one detection area T, positioned in front of the operator WO. The detection area T is a cylindrical spatial region extending vertically within the environment.

[0049] Within the environment, the position where the operator WO stands is designated as the reference position P1, and the location where the target area T intersects with the ground within the environment is designated as the detection position P2. For example, the detection position P2 is the center of the irradiated area formed on the ground by the illumination of the target area T. The reference position P1 and the detection position P2 can be represented using coordinates within the environment. The difference between the height of the reference position P1 and the height of the detection position P2 is the detection height H.

[0050] Hazard Detection Department 1 based on detection height H and Figure 3 (A) table retrieves hazard information. In this example, the detection height is represented as positive for the vertically upward direction and negative for the vertically downward direction. Tripping, which occurs frequently as a fall hazard, corresponds to a positive value, and missteps correspond to a negative value. Furthermore, regarding falls or falls from heights exceeding 1 meter, since falls from heights exceeding 1 meter can be fatal, the hazard level is differentiated into those exceeding 1 meter and those less than 1 meter. Figure 3 In example (B), the detection height H is a value less than -100 (cm). Hazard detection unit 1 obtains the hazard category "fall (more than 1m)" and the hazard level "4" as hazard information.

[0051] The hazard detection unit 1 can define the detection target area in a directional manner based on the orientation of the moving object. For example, the direction of travel of the moving object can be defined as forward, and the opposite direction can be defined as backward. The detection target area can be set at a location where more hazards in front can be detected than those in the rear.

[0052] Figure 4 This is a diagram illustrating an example of the directivity of the detection target region T. Figure 4 (A) ~ Figure 4 (C) shows a top-down view of the environment. Additionally, in Figure 4 (A) ~ Figure 4 In (C), only one of the multiple detection object regions T is marked with a symbol. As shown by the arrow, the operator WO moves from the left side of the figure to the right side.

[0053] exist Figure 4 In (A), multiple detection target areas T are set at a specified distance from the operator WO. In this example, the operator WO moves at a speed of 4 km / h. Figure 4 In (B), worker WO moves at a speed of 8 km / h. Furthermore, in Figure 4In (B), the location of the detection area T differs depending on whether it is in front of or behind the operator WO. The detection area T in front of the operator WO is set further away from the operator WO than the detection area T behind the operator WO.

[0054] Thus, by changing the position of the detection area T according to the movement speed of the worker WO, the range of hazards that the hazard detection unit 1 can detect can be adjusted. As the movement speed of the worker WO increases, the hazard detection unit 1 can expand the detection range of hazards located in the direction of movement. By expanding the detection range of hazards in the direction of movement of the worker WO, the hazard detection unit 1 can appropriately detect hazards regardless of the speed of the moving object.

[0055] Figure 4 (C) is another diagram illustrating the directivity of the detection area T. For example... Figure 4 As shown in (C), it can be assumed that within a range of x1 degrees from the worker WO's perspective, even if there is a step in front of the worker WO, the worker WO will notice the step and thus has a high probability of avoiding dangers such as falling. The range of x1 degrees corresponds, for example, to the range of the worker WO's horizontal field of vision.

[0056] Since the area behind the worker (WO) is out of their sight, it can be assumed that falls are more likely to occur compared to the area in front. Therefore, if... Figure 4 As shown in (C), the hazard detection unit 1 can set the detection target area T such that the detection target area T behind the worker WO is larger than the detection target area T in front of the worker WO. Therefore, the hazard detection unit 1 makes the illumination range of the detection target area T behind the worker WO larger than that in front of him. In this way, the hazard detection unit 1 can expand the detection range of hazards behind the worker WO.

[0057] exist Figure 4 In example (C), the diameter of the rear detection target area T is shown to be larger than that of the front detection target area T, but this is not a limitation. The hazard detection unit 1 can set the detection target areas T such that the number of rear detection target areas T is greater than that of the front. For example, the detection target areas T can be set in two or more columns.

[0058] exist Figure 3 and Figure 4 In the example described, a cylindrical area, which serves as the detection target area, is set along the vertical direction; however, the method of setting the detection target area is not limited to this. The hazard detection unit 1 can set the detection target area in any manner. Next, refer to... Figures 5-8 This section explains other methods for setting the detection target area.

[0059] Figure 5This diagram illustrates an example of defining the range of the detection target area based on the structure of the constituent parts. Figure 5 (A) is a diagram showing the environment viewed from the side. Figure 5 (B) is a diagram showing the environment from above.

[0060] The hazard detection unit 1 can limit the scope of the detection target by adjusting the size of the detection target area. When the detection target area is illuminated with light, the hazard detection unit 1 can adjust the detection target by changing the illumination width of the detection target area. For example, if there is a hole in the environment that is small enough to be unlikely to cause a disaster relative to the size of a person's foot, the hazard detection unit 1 sets the illumination width of the detection target area to be above a predetermined threshold. As a result, since the hazard detection unit 1 does not detect holes smaller than the threshold, it can limit the detection target.

[0061] Figure 5 (A) is a diagram illustrating an example of setting different detection target areas based on the size of the constituent parts. Figure 5 In (A), there are recesses C1 and C2 on the ground in front of the worker WO, which are constituent parts. The width of recesses C1 and C2 in the X-axis direction is set to be the same.

[0062] Furthermore, in Figure 5 In (A), detection object regions T1 and T2 with different widths in the X-axis direction are shown. Detection object region T1 has a width W1. Width W1 is smaller than the width of recess C1. Because detection object region T1 interferes with recess C1, the hazard detection unit 1 detects the hazard of recess C1 and obtains hazard information related to recess C1.

[0063] Furthermore, the detection target area T2 has a width W2. Width W2 is greater than the width of the recess C2. Since the detection target area T2 does not interfere with the recess C2, the hazard detection unit 1 does not detect the hazard of the recess C2. Therefore, the hazard detection unit 1 does not acquire hazard information related to the recess C2. Thus, by adjusting the size of the detection target area, the hazard detection unit 1 can differentiate the constituent parts that are considered hazardous. For example, the hazard detection unit 1 can set the width of the detection target area to be large within a range where the worker WO will not trip or fall. Therefore, the hazard detection unit 1 can exclude constituent parts that are unlikely to cause a hazard from the list of hazardous detection targets.

[0064] Figure 5 (B) is a diagram showing an example of a point-like detection target area T11. The hazard detection unit 1 defines a point-like area, such as a laser beam, as the detection target area T11. The hazard detection unit 1 defines multiple detection target areas T11 on a dotted line. Figure 5 In (B), only 5 detection object regions T11 are shown, and only one of them is marked with a symbol.

[0065] like Figure 5 As shown in (B), the hazard detection unit 1 sets up multiple detection target areas T11 on the ground at a predetermined distance from the worker WO. The detection target areas T11 are arranged on the circumference of a circle centered on the worker WO. The hazard detection unit 1 can set up multiple columns consisting of multiple detection target areas T11. In this example, three columns consisting of multiple detection target areas T11 are set up concentrically around the worker WO.

[0066] exist Figure 5 In (B), a convex surface C11 protruding from the ground is shown. Furthermore, in Figure 5 (B) shows concave surfaces C12 and C13 that have sunk to the ground. In this case, the hazard detection unit 1 sets the diameter of the detection target area T11 to be small enough to detect either the concave or convex surfaces. If the detection target area T11 interferes with either the convex surface C11 or the concave surfaces C12 to C13, the hazard detection unit 1 detects the hazard of each of the convex surface C11 or the concave surfaces C12 to C13.

[0067] Furthermore, the hazard detection unit 1 can use a predetermined threshold to determine whether to detect the hazard of each of the convex surface C11 and the concave surfaces C12-C13. The threshold can be preset by the administrator of the simulation system 10. The threshold can be set using the size of the constituent part. The size of the constituent part can be, for example, the length or width of the constituent part when viewed from above, or the height or depth of the constituent part. Alternatively, a combination of these can be used as the size of the constituent part.

[0068] When a component exceeding a threshold interferes with the detection target area T11, the hazard detection unit 1 detects a hazard. For example, in Figure 5 In example (B), the convex surface C11 and the concave surface C13 are defined as sizes above the threshold, and the concave surface C12 is defined as sizes below the threshold. In this case, the hazard detection unit 1 detects the hazards of the convex surface C11 and the concave surface C13, but does not detect the hazards of the concave surface C12.

[0069] By setting the point-shaped detection target area T11 in this way, a predetermined threshold can be used to determine whether a hazard is detected. Therefore, the hazard detection unit 1 can detect hazards and acquire hazard information based on the structure of the constituent parts. Thus, the hazard detection unit 1 can avoid acquiring hazard information for constituent parts where hazard detection is of low necessity. Furthermore, while an example of setting the point-shaped detection target area T11 is shown here, the hazard detection unit 1 can also set the detection target area T11 such that the diameter of the aforementioned cylindrical shape is sufficiently small.

[0070] Figure 6 This diagram illustrates an example of setting the detection target area T in a direction other than the vertical direction. Figure 6 (A) ~ Figure 6 (C) represents a diagram showing the environment viewed from the side.

[0071] exist Figure 6 In (A), the detection target area T21, represented by a solid line, is set in the vertical direction. Furthermore, a step C21 protrudes vertically between the worker WO and the detection target area T21. In this case, the detection target area T21 and the step C21 do not interfere. Therefore, the hazard detection unit 1 does not detect the hazard of the step C21. Therefore, the hazard detection unit 1 can set the detection target area T21, represented by a dashed line, at a predetermined angle to the vertical direction. Figure 6 As indicated by the arrow in (A), the hazard detection unit 1 sets the detection target area T21 at an angle towards the ground from the vertical direction. Therefore, in Figure 6 In area R1 of (A), the detection target area T21 interferes with step C21, therefore the hazard detection unit 1 can detect the hazard of step C21. In this way, the hazard detection unit 1 can comprehensively detect the hazards under the feet of the worker WO.

[0072] Figure 6 (B) shows an example of a worker WO standing on an inclined surface. The target area T31 is located in front of the worker WO. Figure 6 In (B), the detection target area T31 is set to extend from the ground along the vertical direction.

[0073] The difference between the height of the target area T31 and the height of the worker WO is the detection height H1. In this case, the hazard detection unit 1 sometimes determines that the ground is a protrusion and detects a hazard based on a prescribed threshold and the detection height H1. Therefore, as Figure 6 As shown in (C), the hazard detection unit 1 can set the detection target area T31 so that it extends along the normal direction of the inclined surface. Therefore, the hazard detection unit 1 can avoid detecting hazards in the detection target area T31, thus avoiding detection of hazards on flat slopes or similar surfaces. Therefore, the hazard detection unit 1 can detect hazards with high precision.

[0074] Hazard detection unit 1 can be set to extend the detection target area in a horizontal direction. Figure 7 This is a diagram showing an example of the detection target area T42 being set to extend horizontally. Figure 7 A diagram showing the environment as viewed from the side.

[0075] exist Figure 7In this system, a shield C41 exists in front of the operator WO as a component. Furthermore, a step C42 exists inside the shield C41 when viewed from the operator WO's perspective. The detection target area T42 is set to interfere with the shield C41, and the detection target area T41 is set to interfere with the step C42.

[0076] Here, it is assumed that only the detection target area T41 is set, and the detection target area T42 is not set. In this case, the hazard detection unit 1 detects the hazard of the step C42 through the detection target area T41, but does not detect the hazard of the obstruction C41. Since the hazard detection unit 1 does not detect the presence of the obstruction C41, it detects hazards such as tripping or falling caused by the step C42 based on the hazard information DB41.

[0077] However, since there is an obstruction C41 further forward than step C42, the hazard detection unit 1 can determine that there is no risk of worker WO tripping or falling due to step C42. Thus, the hazard detection unit 1 can obtain information about the components in the horizontal direction by setting a detection target area T42 in the horizontal direction, and use the obtained information when detecting hazards. For example, the hazard detection unit 1 can use the arrangement relationship of multiple components in the horizontal direction, the distance between components, or the height of each component to detect hazards. Therefore, the hazard detection unit 1 can detect hazards that cannot be detected solely by setting a detection target area in the vertical direction, or avoid unnecessary hazard detection.

[0078] This concludes the explanation of an example of using structural components to detect hazards. Hazard detection unit 1 can detect hazards using the properties of its constituent parts.

[0079] Figure 8 This diagram illustrates an example of using the properties of constituent parts to detect hazards. Figure 8 (A) and Figure 8 (B) shows a diagram of the environment viewed from the side. Figure 8 In (A), a high-temperature object C51 with a high surface temperature and a puddle C52 exist in front of the worker WO. The hazard detection unit 1 irradiates the detection target area T51 in a beam shape from above towards the ground. When the irradiated detection target area T51 collides (interferes) with the high-temperature object C51, the hazard detection unit 1 acquires the physical property value of the high-temperature object C51. The physical property values ​​of each component in the environment are preset and can be stored in the storage unit 4, etc.

[0080] Physical property values ​​represent the physical characteristics of a component. A corresponding relationship is established between physical property values ​​and the properties of the component. Physical property values ​​can be, for example, the temperature, material, weight, or hardness of the component. However, they are not limited to these; various physical property values ​​representing the characteristics of a component can be obtained. For example, objects with high surface temperatures pose a risk of burns. Furthermore, puddles on the ground pose a risk of slipping and falling. And, on hard surfaces, the risk of death from a fall increases.

[0081] For example, in Figure 8 In example (A), if the detection target area T51 collides with a high-temperature object C51, the hazard detection unit 1 acquires the temperature, material, weight, and hardness of the high-temperature object C51. The hazard detection unit 1 references hazard information DB41 to acquire hazard information corresponding to these property values. The hazard detection unit 1 can determine the properties of the high-temperature object C51 based on these property values ​​and acquire hazard information associated with those properties. For example, the hazard detection unit 1 can determine that an object with a temperature above a specified value is a high-temperature object and acquire the hazard category and hazard level associated with the high-temperature object as hazard information.

[0082] Hazard detection unit 1 can combine the properties and structure of the constituent parts to obtain hazard information. For example, hazard detection unit 1 can obtain hazard information from hazard information DB41 based on the temperature of the high-temperature object C51 and the detection height. In this way, by using the physical property values ​​of the constituent parts, the hazard around the moving body can be appropriately defined.

[0083] Furthermore, the hazard detection unit 1 can determine that there is no hazard around the moving object based on the acquired physical property values. Figure 8 In example (B), there is a step C53 in front of the worker WO. The surface of step C53 is covered by grass G. In this case, it is considered that even if the worker WO loses his footing and falls onto step C53, the risk of serious injury is low due to the softness of the grass G. Therefore, the hazard detection unit 1 can determine that there is no danger based on the physical property value indicating the surface hardness of step C53. Conversely, if the surface of step C53 is covered by a material as hard as concrete, the hazard detection unit 1 can detect danger and obtain hazard information based on the physical property value.

[0084] return Figure 1 The structure of the simulation system 10 will continue to be described. Under specified output conditions, the hazard information output unit 2 outputs hazard information indicating the danger surrounding the moving object for each component. The output conditions are the conditions used to output hazard information. These conditions are, for example, preset by the administrator of the simulation system 10. For instance, output conditions may include situations where the detection target area set around the moving object interferes with the component.

[0085] The output conditions may include the situation where a moving body enters a range defined from the component. When the moving body approaches the component, the hazard information output unit 2 outputs hazard information. Furthermore, the output conditions may include the situation where the component is located at or near the set movement path of the moving body. The hazard information output unit 2 estimates the movement path of the moving body, and outputs hazard information when the component is located at or near that movement path.

[0086] For example, the hazard information output unit 2 can acquire the movement history of the moving body and estimate the movement path based on the movement tendency. Furthermore, the hazard information output unit 2 can estimate the movement path based on the moving direction and speed of the moving body within the most recent specified period. The hazard information output unit 2 can also estimate the movement path based on a pre-set movement plan. The method for estimating the movement path is not limited to these. The hazard information output unit 2 can use any method to estimate the movement path.

[0087] The hazard information output unit 2 may include a display unit such as a monitor, and output hazard information to that display device. Furthermore, the hazard information output unit 2 can also output hazard information to a user's terminal device via a network (not shown). Thus, the hazard information output unit 2 can enable the display unit of the terminal device to display hazard information. Additionally, the hazard information output unit 2 can also output hazard information to external devices.

[0088] The hazard information output unit 2 can output hazard information in any output mode. For example, the hazard information output unit 2 outputs hazard information in a corresponding association with the detection target area. The hazard information output unit 2 displays the output hazard information and the detection target area in the environment in a visually recognizable manner. The hazard information output unit 2 outputs hazard information and the detection target area through characters, still images, or moving images. The hazard information output unit 2 can output the detection target area in a light-ray pattern. Thus, the user can intuitively understand which area in the virtual space is being referenced for its hazard level.

[0089] The hazard information output unit 2 displays the detected object area, output in a light-like pattern, in a corresponding association with the hazard information contained within that area. The hazard information output unit 2 can display the detected object area and hazard information overlapping, or display them nearby. The hazard information output unit 2 can change its output mode according to the type or level of hazard. For example, the hazard information output unit 2 can output hazard information larger as the hazard level increases. The hazard information output unit 2 can also increase the size of the displayed characters or images as the hazard level increases. The hazard information output unit 2 can adjust its output mode by changing colors, flashing images or lights, etc. The hazard information output unit 2 can change the color of the detected object area from light blue to dark red, etc. The hazard information output unit 2 can change its output mode in multiple stages according to the level of hazard. Furthermore, the hazard information output unit 2 can output hazard information through sound.

[0090] The evaluation unit 3 evaluates the hazard level of at least one of the following: the environment, the moving object, and the moving path of the moving object, based on at least one output hazard information. For example, the evaluation unit 3 sums the hazard levels of multiple detection object areas. The evaluation unit 3 evaluates the hazard level within the environment based on the sum value. The evaluation unit 3 can express the evaluation result as a hazard level of 1 to 5, or as text information such as "high hazard". Thus, the evaluation unit 3 can evaluate the magnitude of the hazard within the environment.

[0091] Furthermore, the evaluation unit 3 can calculate the hazard level of each moving body based on its behavior or movement range. Thus, the evaluation unit 3 can assess the hazard level of each moving body. Therefore, for example, the manager of the simulation system 10 can take measures such as changing the workplace of users whose hazard level exceeds a specified value, or re-examining the work environment.

[0092] Evaluation unit 3 can evaluate the degree of danger along the movement path of the mobile body. For example, evaluation unit 3 sums up the degree of danger detected along the estimated movement path or the actual movement path of the mobile body. Evaluation unit 3 evaluates the degree of danger of each movement path based on the sum of the degree of danger. As a result, managers can re-examine the movement path or its surrounding environment.

[0093] Evaluation unit 3 can output the evaluation results to the manager's terminal or similar device. In this way, by evaluating the hazard level of the environment, the mobile object, and the mobile object's movement path, the manager can easily grasp the hazard level of the entire environment, including the mobile object.

[0094] Storage unit 4 stores a computer program containing the processing described in this invention. Furthermore, storage unit 4 stores the aforementioned danger information DB41.

[0095] The structure of the simulation system 10 described above is only one example and can be modified appropriately. For example, the storage unit 4 can be located in a device other than the simulation system 10.

[0096] (Processing of simulation system 10) Next, refer to Figure 9 The processing performed by the simulation system 10 will be explained. Figure 9 This is a flowchart representing the processing flow performed by the simulation system 10.

[0097] First, the hazard detection unit 1 sets the detection target area (S1). For example, the hazard detection unit 1 sets a cylindrical detection target area to surround the moving body. The hazard detection unit 1 can set the detection target area by illuminating the constituent parts with a light-like detection target area.

[0098] Next, the hazard detection unit 1 determines whether the area to be detected interferes with the constituent parts (S2). If it is determined that there is no interference (S2 "No"), step S2 is repeated. If it is determined that there is interference (S2 "Yes"), the hazard detection unit 1 acquires the structure or properties of the constituent parts (S3). For example, the hazard detection unit 1 acquires the depth, height, or degree of sway of the constituent parts as the structure of the constituent parts. The hazard detection unit 1 can acquire the heat, slipperiness, or fragility of the constituent parts as properties of the constituent parts. The hazard detection unit 1 can acquire property values ​​such as the temperature of the constituent parts as properties.

[0099] Next, the hazard detection unit 1 refers to the hazard information DB41 in the storage unit 4 to detect hazards in the detection target area (S4). For example, the hazard detection unit 1 detects hazards by searching for hazards in the hazard information DB41 that correspond to the structure or properties of the constituent parts.

[0100] Next, the hazard detection unit 1 determines whether a hazard is detected in the detection target area (S5). If no hazard is detected (S5 "No"), the process returns to step S2 and repeats the following steps. If a hazard is detected (S5 "Yes"), the hazard detection unit 1 acquires hazard information (S6). For example, the hazard detection unit 1 acquires the hazard category and hazard level as hazard information based on hazard information DB41.

[0101] Next, the hazard information output unit 2 determines whether the output conditions for outputting hazard information are met (S7). If the output conditions are not met (S7 "No"), the process returns to step S2 and repeats the following steps. If the output conditions are met (S7 "Yes"), the hazard information output unit 2 outputs hazard information for each constituent part (S8). For example, the hazard information output unit 2 establishes a corresponding association between the hazard information and the detection target area and displays the output in the environment in a visually recognizable manner.

[0102] Hazard detection unit 1 determines whether to end the process (S9). If it determines that the process should not end (S9 "No"), it returns to step S2 and repeats the following process. If it determines that the process should end (S9 "Yes"), the process ends. Alternatively, if step S2 "No", step S5 "No", step S7 "No", or step S9 "No", it can return to step S1 and set the detection target area again.

[0103] As explained above, the simulation system 10 of this invention refers to a hazard information DB that establishes a corresponding association between the structure or properties of the constituent parts constituting the environment and the hazards that the moving body may suffer when it interferes with the constituent parts in the simulated environment, and detects hazards around the moving body. Furthermore, the simulation system 10 outputs hazard information for each constituent part when predetermined output conditions are met.

[0104] Therefore, the simulation system 10 does not require cumbersome processes such as preparing individual detection areas and pre-setting parameters. Furthermore, even if the depth of the environment, such as steps or holes, changes, or if the hazardous location changes, the simulation system 10 can dynamically set the detection area. Thus, the simulation system 10 can flexibly set areas designated as hazardous detection objects.

[0105] The simulation system 10 can respond to the ever-changing actions of hazard sources and workers, extract surrounding hazards, and obtain hazard levels. Furthermore, the simulation system 10 can extract hazards based on the structure or properties of constituent parts, thus automatically acquiring hazard information corresponding to the characteristics of the constituent parts.

[0106] This structure allows users to manipulate objects in various ways within a simulated environment, exploring the potential dangers that may result while exploratoryly performing the simulation. Therefore, according to simulation system 10, simulations can be conducted while gaining a more intuitive understanding of the surrounding hazards.

[0107] The functional components of the aforementioned simulation system 10 can be implemented by hardware or by a combination of hardware and software. For example, the present invention can also achieve arbitrary processing by having the CPU execute a computer program.

[0108] When the above-described program is read into a computer, it includes a set of commands (or software code) for causing the computer to perform one or more functions described in the implementation. The program can be stored in various types of non-transitory computer-readable media or physical storage media. By way of example, and not limitation, non-transitory computer-readable media or physical storage media include random-access memory (RAM), read-only memory (ROM), flash memory, solid-state drive (SSD) or other memory technologies, CD-ROM, digital versatile disc (DVD), Blu-ray disc or other optical disc storage, cassette tape, magnetic tape, disk storage, or other magnetic storage devices. Furthermore, the program can also be transmitted on various types of transient computer-readable media or communication media. By way of example, and not limitation, transient computer-readable media or communication media include electrical, optical, acoustic, or other forms of propagation signals.

[0109] Symbol Explanation 1-Hazard Detection Department, 2-Hazard Information Output Department, 3-Evaluation Department, 4-Storage Department, 10-Simulation System, C1, C2-Concave, C11-Convex Surface, C12, C13-Concave Surface, C21, C42, C53-Step, C41-Shielding Object, C51-High Temperature Object, 41-Hazard Information Database, G-Lawn, P1-Base Position, P2-Detection Position, R1-Area, T, T1~T51-Detection Object Area, WO-Operator.

Claims

1. A simulation system, characterized in that, have: The hazard detection unit, referring to a hazard information database that establishes a correspondence between the structure or properties of components constituting a simulated environment and the hazards that a moving body may suffer when it interferes with the components within the simulated environment, detects hazards around the moving body; and The hazard information output unit outputs hazard information indicating the hazard for each of the aforementioned constituent parts, provided that the prescribed output conditions are met.

2. The simulation system according to claim 1, characterized in that, The output conditions include the interference between the detection target area set around the moving body and the constituent parts. The detection target area is set to have directional characteristics in a specific direction based on the orientation of the moving body. The hazard detection unit acquires hazard information related to the constituent parts that interfere with the detection target area. The hazard information output unit establishes a corresponding association between the hazard information and the detection target area and outputs it.

3. The simulation system according to claim 1 or 2, characterized in that, It also has: The evaluation unit evaluates the hazard level of at least one of the simulated environment, the moving body, and the moving path of the moving body based on at least one of the output hazard information.

4. A simulation method, characterized in that, include: The hazard detection step involves referencing a hazard information database that establishes a corresponding association between the structure or properties of the constituent parts of the simulated environment and the hazards that the moving body may suffer when it interferes with the constituent parts in the simulated environment, and then detecting hazards around the moving body. and The hazard information output step, under the condition that the prescribed output conditions are met, outputs hazard information representing the hazard for each of the constituent parts.

5. A program, characterized in that, Have the computer perform the following steps: The hazard detection step involves referencing a hazard information database that establishes a corresponding association between the structure or properties of the constituent parts of the simulated environment and the hazards that the moving body may suffer when it interferes with the constituent parts in the simulated environment, and then detecting hazards around the moving body. and The hazard information output step, under the condition that the prescribed output conditions are met, outputs hazard information representing the hazard for each of the constituent parts.

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